# This message contains one-epoch measurements from one single satellite
# 7.3.2 OBSVM观测量
#观测量OBSVM
#以下数组代表对同一颗卫星的观测次数obsNumber

GnssTimeMsg time    # measurement time                                                  #时间戳，GPS周数和周内秒
uint32 sat          # satellite ID (define by `sat_no` function in `gnss_utility.hpp`)  #卫星编号
float64[] freqs     # observed frequencies [Hz]                                         #观测频率，即采样频率
float64[] CN0       # carrier-to-noise density ratio (signal strength) [dB-Hz]          #载噪比
uint8[] LLI         # lost-lock indicator (1=lost)
uint8[] code        # channel code
float64[] psr       # pseudorange measurement [m]                                       #码伪距测量值，单位：m
float64[] psr_std   # pseudorange standard deviation [m]                                #码伪距标准差，单位：m（若乘以了倍数则要除以该倍数以还原）
float64[] cp        # carrier phase measurement [cycle]                                 #载波相位，单位：周
float64[] cp_std    # carrier phase standard deviation [cycle]                          #载波相位标准差，单位：周（若乘以了倍数则要除以该倍数以还原）
float64[] dopp      # Doppler measurement [Hz]                                          #瞬时多普勒，单位：Hz
float64[] dopp_std  # Doppler standard deviation [Hz]                                   #瞬时多普勒标准差，单位：Hz（数据手册中没有就自己设一个值，如10Hz）
# tracking status. bit_0:psr valid, bit_1:cp valid, 
# bit_2:half cp valid, bit_3:half cp subtracted
uint8[]   status                                                                        #跟踪状态，1是0否，bit_0码伪距测量是否有效;bit_1载波相位测量是否有效;bit_2一半的载波是否有效;bit_3一半的载波是否被减去（若手册上没有对应的位则置0，其余位为0）